Unable to Connect to World

EDIT: I submitted this to the wrong version of the game. I am not using a dedicated server, we are trying to play locally. Please delete this if I can't figure out how to delete it myself.

Hello,

I am attempting to play Minecraft with my younger brother. He is playing on his iPad, and I am playing on my Windows 10 computer. Every time we attempt to play on each other's worlds, the exact same, vague error message pops up. - "Unable to connect to world"

Here's a list of things we have done that seemingly does not affect this error.

• Ensured both of our privacy and safety settings for our Xbox accounts allowed us to play.

• We can play on a server together such as Mineplex

• We have each other added as friends.

• We are on the same WiFi network.